RaftMotorControl Overview

Overview

RaftMotorControl is a Raft library that provides the MotorControl device. The device is instantiated by DeviceManager from the SysType configuration and exposes a JSON command interface for motion control, along with status publishing and named-value access.

What It Provides

• Multi-axis stepper motion control with ramped and non-ramped moves.
• Kinematics for Cartesian (XYZ) and SingleArmSCARA geometries.
• A motion pipeline with acceleration and junction handling.
• Endstop handling and homing patterns.
• Status publishing through DeviceManager (devjson/devbin).
• Named-value access to positions, steps, busy state, and geometry metadata.

Device Model

• Device class: MotorControl.
• Instantiated under DeviceManager (DevMan -> Devices).
• Accepts JSON commands through /devman/cmdjson.
• Status data is available through /devman/devdata and publish topics.

Related Pages

• MotorControl Configuration
• MotorControl Commands
• Device Manager REST API